import os
from launch import LaunchDescription
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory


def generate_launch_description():

    '''
        配置文件声明
    '''
    rtk_config = os.path.join(
        get_package_share_directory('rtk_fast30'),
        'config',  # 配置文件所在目录
        'config.yaml'
    )
    rtk_fast30 = Node(
        package='rtk_fast30',  
        executable='rtk_fast30',     
        name='rtk_fast30',    
        output='screen',           
        parameters=[rtk_config]
    )
   
    return LaunchDescription([
        rtk_fast30
    ])